CN107662868A - Monitoring system, passenger transporter and its monitoring method of passenger transporter - Google Patents
Monitoring system, passenger transporter and its monitoring method of passenger transporter Download PDFInfo
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- CN107662868A CN107662868A CN201610610018.2A CN201610610018A CN107662868A CN 107662868 A CN107662868 A CN 107662868A CN 201610610018 A CN201610610018 A CN 201610610018A CN 107662868 A CN107662868 A CN 107662868A
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- Prior art keywords
- lighting apparatus
- illumination
- luminous intensity
- normal
- condition
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B25/00—Control of escalators or moving walkways
- B66B25/006—Monitoring for maintenance or repair
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B21/00—Kinds or types of escalators or moving walkways
- B66B21/02—Escalators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B25/00—Control of escalators or moving walkways
- B66B25/003—Methods or algorithms therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B29/00—Safety devices of escalators or moving walkways
- B66B29/005—Applications of security monitors
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/105—Controlling the light source in response to determined parameters
- H05B47/115—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings
- H05B47/125—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings by using cameras
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Landscapes
- Escalators And Moving Walkways (AREA)
- Circuit Arrangement For Electric Light Sources In General (AREA)
Abstract
The present invention provides a kind of monitoring system of passenger transporter, detection method and passenger transporter, and the monitoring system includes：Imaging sensor, for being sensed the lighting apparatus of the passenger transporter to obtain view data；Processing unit, for carrying out data processing to described image data to monitor whether the lighting apparatus is in normal condition, it is configured as including：Background acquisition module, for based on being under normal condition or abnormal condition the image data acquisition background model sensed in the lighting apparatus；Foreground detection module, for the view data sensed in real time to be compared to obtain foreground object with the background model；And operating mode judge module, data processing is carried out to judge whether the lighting apparatus is in normal condition for being at least based on the foreground object.And then the failure of lighting apparatus or improper illumination condition can timely diagnose and safeguard.
Description
Technical field
The present invention relates to a kind of passenger transporter field, more particularly it relates to the photograph of passenger transporter
The monitoring system and its monitoring method of bright equipment.
Background technology
As improve passenger floor gap walking or shorten passenger's walking distance instrument, passenger transporter is daily
It is very common in life.As an example, the especially common escalator for being typically used for mall floor gap and being generally used for
The moving sidewalk of large airport.
For such instrument, for ease of occupant ride, instruction is provided or for purpose attractive in appearance, by meeting in passenger traffic
Lighting apparatus is arranged in device many places.For example, arrange traffic direction lamp in passenger transporter entrance；In the ladder of passenger transporter
Comb light or step light are arranged in level；Handrail lamp is arranged on the mobile handrail of passenger transporter；And in passenger transporter
Enclosure lamp is arranged on the fence of both sides.When corresponding lighting apparatus hinders for some reason no longer to work, then it can cause its caused skill
Corresponding missing occurs for art effect.Furthermore, it is contemplated that the difference of the change of application environment and environment with seasonal change to luminous intensity
Demand, if being adjusted corresponding to being carried out to the luminous intensity of corresponding lighting apparatus, environment is adapted it to, then can also be provided further
Energy-saving effect.
The content of the invention
Present invention aims at provide a kind of monitoring system for passenger transporter.
The object of the invention also resides in the monitoring method for providing a kind of passenger transporter movement handrail.
The object of the invention, which also resides in, provides a kind of passenger transporter.
According to an aspect of the present invention, there is provided a kind of monitoring system of passenger transporter, it includes：Imaging sensing
Device, for being sensed the lighting apparatus of the passenger transporter to obtain view data；Processing unit, for described
View data carries out data processing to monitor whether the lighting apparatus is in normal condition, and it is configured as including：Background obtains
Modulus block, for based on being under normal condition or abnormal condition the image data acquisition background sensed in the lighting apparatus
Model；Foreground detection module, for the view data sensed in real time to be compared with acquisition prospect pair with the background model
As；And operating mode judge module, it is to judge the lighting apparatus for being at least based on foreground object progress data processing
It is no to be in normal condition.
According to another aspect of the present invention, a kind of monitoring method for passenger transporter is also provided, it includes：
S100, image acquisition step：The lighting apparatus of the passenger transporter is sensed to obtain view data；S200, the back of the body
Scape obtaining step：Based on being under normal condition or abnormal condition the image data acquisition background that senses in the lighting apparatus
Model；S300, foreground detection step：The view data sensed in real time is compared with acquisition prospect pair with the background model
As；And S400, operating mode judgment step：Data processing is carried out to judge that the illumination is set for being at least based on the foreground object
It is standby whether to be in normal condition.
According to an aspect of the present invention, a kind of passenger transporter is also provided, it includes foregoing monitoring system.
Brief description of the drawings
Fig. 1 be the present invention passenger transporter and its monitoring system one embodiment schematic diagram.
Fig. 2 is the step schematic diagram of one embodiment of the monitoring method of the passenger transporter movement handrail of the present invention.
Fig. 3 is the control flow chart of one embodiment of the monitoring method of the passenger transporter movement handrail of the present invention.
The step of Fig. 4 is another embodiment of the monitoring method of the passenger transporter movement handrail of the present invention is illustrated
Figure.
Fig. 5 is the control flow of another embodiment of the monitoring method of the passenger transporter movement handrail of the present invention
Figure.
Embodiment
The present invention is more fully described now with reference to accompanying drawing, shown in the drawings of the exemplary embodiment of the present invention.
But the present invention can realize according to many different forms, and it is not construed as being limited to embodiments set forth here.
On the contrary, thesing embodiments are provided so that the disclosure becomes thorough and complete, and the design of the present invention is entirely delivered to this area
Technical staff.In accompanying drawing, identical label refers to identical element or part, therefore, will omit description of them.
Some block diagrams shown in accompanying drawing are functional entitys, not necessarily must be with physically or logically independent entity phase
It is corresponding.These functional entitys can be realized using software form, or in one or more hardware modules or integrated circuit
These functional entitys are realized, or these functional entitys are realized in different disposal device and/or microcontroller device.
In the present invention, passenger transporter includes escalator（Escalator）And moving sidewalk（Moving
Walk）.In embodiment illustrated below, the monitoring system and its monitoring method of the embodiment of the present invention are entered using escalator as example
Row describes in detail, it is to be understood, however, that arriving, the monitoring system and its monitoring method for escalator of following examples are same
Analogically it can be applied in moving sidewalk, it is those skilled in the art that it, which may need the improvement of such as applicability occurred,
It can know under the teaching of the embodiment of the present invention.
Referring to Fig. 1, it illustrates the monitoring system of a kind of passenger transporter 100 and its lighting apparatus.Passenger in figure
Conveying arrangement 100 includes staircase itself and its controller 110 and driving part 120.The controller 110 can close with monitoring system
Connection, and the instruction based on its feedback or parameter information are controlled to each part of passenger transporter 100.In some special feelings
Under condition, it might even be possible to directly close down passenger transporter 100 by the way that driving part 120 is provisional.
Lighting apparatus monitoring system 200 then includes：Imaging sensor 210 and processing unit 220；Processing unit 220 includes：
Background acquisition module 221, foreground detection module 222 and operating mode judge module 224.So as to realize to passenger transporter
The lighting condition of 100 lighting apparatus carries out implementation monitoring, to provide necessary warning or maintenance, and then avoid because improperly according to
Express meaning and cause danger or because reducing Consumer's Experience improperly illumination intensity.
Specifically, the illumination that the imaging sensor 210 in previous embodiment is mainly used in passenger transporter 100 is set
It is standby to be sensed to obtain view data.And feature required in view data is extracted in subsequent processing procedure
To realize corresponding judgement.For example, these features can be the position of the luminous color of lighting apparatus, light intensity and lighting apparatus,
Etc..
As exemplary explanation, imaging sensor 210 can be various types of 2D imaging sensors, it will be appreciated that
Any imaging sensor that can shoot the picture frame that acquisition includes pixel grey scale information can be applied herein, it is of course possible to
Shooting, which obtains, includes pixel grey scale information and color information（Such as RGB information）The imaging sensor of picture frame can also be herein
Using.
Depth sense sensor can be for any 1D, 2D, 3D depth transducer or its combination.This sensor can be
The depth map of tool correspondingly-sized can be produced（It is also known as a cloud or occupies grid）Optics, operate under electromagnetism or sound spectrum.Respectively
Kind depth sense sensor technology and device include but is not limited to structural light measurement, phase-shift measurement, flight time measurement, solid three
Angle measuring device, light triangulation device plate, light-field camera, code aperture camera, calculating imaging technique while positioning and map
Build (SLAM), imaging radar, imaging sonar, scanning LIDAR, flash of light LIDAR, passive infrared line (PIR) sensor and small-sized
Focal plane arrays (FPA) (FPA) or including at least one combination in foregoing.Different technologies may include actively（Transmission and reception signal）
It is or passive（Only reception signal）And can be in electromagnetism or sound spectrum（Vision, infrared ray etc.）The lower operation of band.Use depth sense
There can be the specific advantages for surmounting conventional 2D imagings, there can be the specific benefit for surmounting visible spectrum and being imaged using infrared sensing
Place, substitute or in addition so that sensor can be the infrared ray sensor for having one or more pixel spatial resolutions, such as
Passive infrared line (PIR) sensor or small-sized IR focal plane arrays (FPA)s (FPA).
It should be noted that 2D imaging sensors 210（Such as convention security camera）Between 1D, 2D or 3D depth sense sensor
Depth sense provide many advantages degree on can exist in nature with quantitative difference.In 2D imagings, from imaging
Each reflection color from first object in the radial direction of device（The mixture of wavelength）It is captured.Then, 2D images
It may include the combination spectrum of the spectral reflectance factor of object in source lighting and scene.2D images can be interpreted as picture by personnel.
In 1D, 2D or 3D depth sense sensor, in the absence of color（Spectrum）Information；More precisely, from the radial direction side of sensor
To（1D）Or direction（2D、3D）On to the first reflective object distance（Depth, scope）It is captured.1D, 2D and 3D technology can have
There is intrinsic maximum detectable range limit and there can be the spatial resolution for being relatively lower than typical 2D imagers.To ambient lighting
In terms of the relative immunity of problem, compared with being imaged with conventional 2D, it can advantageously provide improved type using 1D, 2D or 3D depth sense and grasp
Work, the preferable separation to occluding objects and preferable privacy protection.Can be had using infrared sensing and exceed visible spectrum imaging
Particular benefits.For example, 2D images can not be transformed into depth map and depth map can not also be schemed with 2D is transformed into
Picture（For example, the continuous color of artificial distribution or gray scale to continuous depth can make one how to see 2D images somewhat similar to personnel
Roughly to interpret depth map, it is not the image on conventional meaning.）Ability.
In addition, the processing unit 220 be then mainly used in view data carry out data processing with monitoring light equipment whether
In normal condition, its each module that should be configured also will be described in detail below：Background acquisition module 221 is used to be based in lighting apparatus
The image data acquisition background model sensed under normal condition or abnormal condition；Foreground detection module 222 is then used for will
The view data sensed in real time is compared with background model to obtain foreground object；And operating mode judge module 224, for extremely
Data processing is carried out based on foreground object to judge whether lighting apparatus is in normal condition less.Wherein, the provided back of the body is provided
Scape model the image for implementing sensing is analyzed so as to obtain required foreground object with it as basis of reference, and
It is further based on that the data of foreground object are come out or obtained with judged result.So as to be safeguarded to lighting apparatus to make its guarantor
Hold normal condition.
It can find to shine early according to the lighting apparatus monitoring system 200 for passenger transporter 100 of the present embodiment
Lighting apparatus present in bright equipment does not work or the problem of illumination intensity exception, early repairs it from various abnormalities
Into conventional sense, be so advantageous to avoid because of illumination security incident caused by instruction by mistake, and avoid because intensity of illumination is abnormal and
Consumer's Experience is caused to reduce.
Previous embodiment is also equipped with some improvement or remodeling, will select a portion remodeling as follows and be described.
For example, when the object of the interference monitorings such as passenger is not present in the foreground image data for implementing sensing, it assumes that real
When the view data that senses when post processing result is compared with background model is 0, then show that lighting apparatus is in normal condition
Under.And if implement in the foreground image data of sensing when disturbing factor be present, it will be obtained after being compared with background model
Foreground object.Further, the processing unit 220 is also extra is set：Foreground features extraction module 223, it is used for according to illumination
Equipment is based on illumination condition prospect from the corresponding illumination condition foreground features of prospect object extraction, and by operating mode judge module 224
Feature further judges whether lighting apparatus is in normal condition.
As an example, the illumination condition foreground features that foreground features extraction module 223 extracts include lighting apparatus
The luminous intensity of the luminous intensity and/or monitored area of color and/or lighting apparatus, operating mode judge module 224 is based on lighting apparatus
Color and/or lighting apparatus luminous intensity and/or the luminous intensity of monitored area judge whether lighting apparatus is normal.Because illumination is set
When standby abnormal, its color can be accordingly resulted in and/or luminous intensity changes.Therefore, accordingly, by its color and/or
The change of luminous intensity is analyzed, and whether normal can also accurately and effectively embody lighting apparatus.Further, since monitored area
Luminous intensity also influence whether lighting apparatus whether there is that unlatching is necessary or whether its lighting level excessive, therefore can also be indirectly
Whether normal embody lighting apparatus.
For ease of understanding that the abnormality of lighting apparatus is relevant with color and/or luminous intensity.It is particularized below go out some examples
It is for reference.
As example one, when whether processing unit 220 detects lighting apparatus illuminate, operating mode judge module 224 can be with base
Judge whether lighting apparatus is normal in the color and/or luminous intensity of lighting apparatus.If because exist illumination color or
Non-zero luminous intensity be present, then may determine that the lighting apparatus is in illumination condition.If conversely, color in the absence of illumination or
Luminous intensity is 0, then may determine that the lighting apparatus is in non-illumination state.If being judged with reference to both, result is corresponding
Ground is more accurate, is advantageous to avoid erroneous judgement.
As example two, when whether the brightness of illumination that processing unit 220 detects lighting apparatus is suitable, operating mode judge module
224 judge whether lighting apparatus is normal based on the luminous intensity of lighting apparatus.Because according to the luminous intensity that senses in real time with
Contrast between ambient light intensity, then it may determine that whether the brightness of illumination of the lighting apparatus is suitable.
As example three, when whether the brightness of illumination that processing unit 220 detects lighting apparatus is suitable, operating mode judge module
224 luminous intensities and color based on lighting apparatus judge whether lighting apparatus is normal.Because according to the light sensed in real time
Contrast between intensity and ambient light intensity, then it may determine that whether the brightness of illumination of the lighting apparatus is suitable.And color
The accuracy of the judgement can then be improved by adding, and be advantageous to avoid erroneous judgement.
As example four, when whether the brightness of illumination that processing unit 220 detects lighting apparatus is suitable, operating mode judge module
224 luminous intensities and color based on monitored area judge whether lighting apparatus is normal.Because the light according to monitored area
The comparison of intensity and normal conditions, then it may determine that whether the brightness of illumination of the lighting apparatus of corresponding monitored area is suitable.
Alternatively, conventional passenger transporter 100 may have multigroup different lighting apparatus in different location arrangements.
The illumination condition foreground features that now foreground features extraction module 223 extracts also include the position of lighting apparatus, so as to base
The lighting apparatus of monitoring required for being identified in the difference of position, and the data point whether illumination condition corresponding to progress is abnormal
Analysis.Now operating mode judge module 224 by one or more of the color based on lighting apparatus, luminous intensity and position and/or is supervised
The luminous intensity for surveying region judges whether lighting apparatus is normal.
For ease of understanding that the abnormality of lighting apparatus is relevant with one or more of color, luminous intensity and position.Such as
Under to include some examples for reference.
As example one, when whether processing unit 220 detects lighting apparatus illuminate, operating mode judge module 224 is based on shining
The position of bright equipment and color and/or luminous intensity judge whether lighting apparatus is normal.Pass through position data because working as
After recognizing the required lighting apparatus for carrying out data analysis, for the lighting apparatus, if the color of illumination be present or deposit in it
In non-zero luminous intensity, then it may determine that the lighting apparatus is in illumination condition.If conversely, color or light in the absence of illumination
Intensity is 0, then may determine that the lighting apparatus is in non-illumination state.If being judged with reference to both, result is correspondingly
It is more accurate, be advantageous to avoid erroneous judgement.
As example two, when whether the brightness of illumination that processing unit 220 detects lighting apparatus is suitable, operating mode judge module
224 luminous intensities and position based on lighting apparatus judge whether lighting apparatus is normal.Because when by position data come
After the lighting apparatus that data analysis is carried out required for recognizing, according to pair between the luminous intensity and ambient light intensity sensed in real time
Than then may determine that whether the brightness of illumination of the lighting apparatus is suitable.
As example three, when whether the brightness of illumination that processing unit 220 detects lighting apparatus is suitable, operating mode judge module
224 luminous intensities based on lighting apparatus, color and position judge whether lighting apparatus is normal.Pass through positional number because working as
According to come after carrying out the lighting apparatus of data analysis required for recognizing, according between the luminous intensity and ambient light intensity sensed in real time
Contrast, then may determine that whether the brightness of illumination of the lighting apparatus suitable.And the addition of color can then improve the judgement
Accuracy, be advantageous to avoid erroneous judgement.
As example four, when whether the brightness of illumination that processing unit 220 detects lighting apparatus is suitable, operating mode judge module
The luminous intensities of 224 positions and monitored area based on lighting apparatus judges whether lighting apparatus is normal.Pass through because working as
Position data come after carrying out the lighting apparatus of data analysis required for recognizing, according to the ambient light intensity sensed in real time with it is normal
Contrast between situation, then it may determine that whether the brightness of illumination of the lighting apparatus is suitable.
To strengthen and improving the various effects of previous embodiment in all its bearings, also provide based on previous embodiment herein
Some improvement and modification.
For example, foregoing operating mode judge module 224 is additionally configured to, the illumination condition foreground features based on foreground object are sentenced
Whether the specific lighting apparatus that breaks is normal, if it is determined that "Yes", is abandoned based on currently processed view data to lighting apparatus
Whether it is in the judgement of normal condition or abandons whether lighting apparatus corresponding to currently processed view data is in normal condition
Judged result.
For another example, foregoing operating mode judge module 224 is additionally configured to, in the judgement knot of the view data of at least continuous two width
When fruit is that lighting apparatus is in same abnormal condition, determine that lighting apparatus is in the abnormal condition.By repeatedly monitoring,
Just lighting apparatus is judged to be in abnormal condition after obtaining identical judged result.So improve the accuracy judged, drop
Low False Rate.
And for example, imaging sensor 210 senses the picture number for obtaining lighting apparatus in scheduled time slot after scheduled time slot
Data processing is carried out according to for processing unit 220.By judging that same monitoring can also be realized to a certain extent by phased manner
Effect.Such as in evening session, due to relatively less using the user of passenger transporter 100.Now, using the relatively low frequency
Monitoring both saves monitoring cost, and can reach similar detection and safety precaution effect substantially.
Further, background acquisition module 221 is configured as, and the image sensed is under illumination condition based on lighting apparatus
The background model of data acquisition first, or the image data acquisition second sensed is under non-illumination state based on lighting apparatus and is carried on the back
Scape model, or the image data acquisition the 3rd sensed is under the illumination condition of multiple particular light intensities based on lighting apparatus and is carried on the back
Scape model group.The selection of background model is primarily to provide a relative reference when judging.Set for example, working as based on illumination
During for being under illumination condition the first background model of image data acquisition sensed, if the foreground object detected and its presence are poor
Not, then show that it is not under illumination condition, regarded as there may be exception.For another example, when based on lighting apparatus be in it is non-
The background model of image data acquisition second sensed under illumination condition, if the foreground object detected has difference, table with it
Bright its is likely to be under illumination condition, and being regarded as may be normal.And for example, when being in multiple certain light intensities based on lighting apparatus
During the 3rd background model group of image data acquisition sensed under the illumination condition of degree, then being mainly in view of needs different in the case of
Want the luminous intensity that luminaire applications are different.Now, actual conditions are potentially based on N number of 3rd background model, and common structure is set
Build up the 3rd background model group.In deterministic process, practical situation will be based on and judge to use in the 3rd background model group come specific
Which the 3rd background model, and when the foreground object detected has difference with it, then show that it is likely to be at non-set
Under fixed illumination light intensity, therefore regarded as there may be exception.
Further, since imaging sensor 210 has more accurate sensing result in certain regional extent.Therefore,
To improve the order of accuarcy of detection, multiple imaging sensors 210 can be arranged along the length direction of passenger transporter 100.
Further, monitoring system also includes alarm unit 230, and operating mode judge module 224 is it is determined that occur lighting apparatus
Alarm unit 230 is triggered in the case of exception to work.Correspondingly, processing unit 220 is additionally configured to, in operating mode judge module
Trigger output signal to the elevator of passenger transporter 100 and/or building is tieed up when 224 determination lighting apparatus are in abnormal condition
Shield center.Subsequent maintenance centre or attendant will make corresponding treatment measures according to monitoring result, so as to realize prevention peace
The generation of full accident.
Further, monitoring system also includes study module 225, and study module 225 is used to monitor passenger transporter 100
The lighting apparatus under day-to-day operation operating mode illumination condition foreground features, for renewal background acquisition module 221 obtained
The background model taken.Due in different places, for lighting apparatus whether normally opening and closing and its illumination intensity whether just often with
There are different scenes and different requirements.Such a arrangement will enable the detecting system rapidly learnt according to actual requirement and
Background model is set, so that it has more preferable faster adaptability to application places.
Although in addition, gather view data using imaging sensor 210 in previous embodiment.But those skilled in the art
It is appreciated that the various other sensors that can gather view data are similarly applied to herein.For example, as an example,
RGB-D sensors also are used as sensor herein.Specifically, RGB-D sensors are a kind of by imaging sensor 210 and deep
The sensor that becomes one of degree sensing sensor, it is in addition to it can provide view data, some specific in the case of, also
Depth map data can be additionally provided to aid in the monitoring to lighting apparatus.
In addition, a variety of lighting apparatus in passenger transporter 100 generally be present, its can be traffic direction lamp, comb light,
One in step light, handrail lamp and enclosure lamp or any combination.
In addition, a kind of monitoring method of the lighting apparatus of passenger transporter 100 is also provided herein, to coordinate previous embodiment
Described in lighting apparatus monitoring system use.Referring to Fig. 2 and Fig. 3.The monitoring method comprises the following steps：S100, image
Obtaining step：The lighting apparatus of the passenger transporter 100 is sensed to obtain view data；S200, background obtain
Step：Based on being under normal condition or abnormal condition the image data acquisition background model that senses in the lighting apparatus；
S300, foreground detection step：The view data sensed in real time is compared to obtain foreground object with the background model；With
And S400, operating mode judgment step：It is to judge the lighting apparatus for being at least based on foreground object progress data processing
It is no to be in normal condition.This method can accurately and timely identify lighting apparatus for some reason for realize illumination or illumination intensity with it is pre-
There is the problems such as deviation in the phase, and send alarm and monitoring center or attendant are responded in time.
In addition, to improve the practicality or accuracy of the monitoring method in previous embodiment, provided referring also to Fig. 4 and Fig. 5
Some improvement or remodeling to wherein each step.
Specifically, it is when the object of the interference monitorings such as passenger is not present in the foreground image data for implementing sensing, then false
If post processing result is compared with background model for the view data sensed in real time when being 0, then show that lighting apparatus is in normal
Under state.And if implement in the foreground image data of sensing when disturbing factor be present, it will after being compared with background model
Obtain foreground object.Therefore, now the monitoring method should also include：S310, foreground features extraction step, for being set according to illumination
It is standby to extract corresponding illumination condition foreground features from the foreground object；Wherein, in the S400 of the monitoring method, based on described
Illumination condition foreground features judge whether the lighting apparatus is in normal condition.
As an example, in the S310 of the monitoring method, the illumination condition foreground features of extraction include lighting apparatus
Color and/or the luminous intensity of lighting apparatus and/or the luminous intensity of monitored area；In the S400 of the monitoring method, based on institute
The color and/or lighting apparatus luminous intensity and/or the luminous intensity of monitored area for stating lighting apparatus be to judge the lighting apparatus
It is no normal.During due to lighting apparatus exception, its color can be accordingly resulted in and/or luminous intensity changes.Therefore, accordingly,
Analyzed by the change to its color and/or luminous intensity, whether normal can also accurately and effectively embody lighting apparatus.
Further, since the luminous intensity of monitored area also influence whether lighting apparatus whether there is that unlatching is necessary or its lighting level whether mistake
Degree, therefore whether can also embody lighting apparatus indirectly normal.
For ease of understanding that the abnormality of lighting apparatus is relevant with color and/or luminous intensity.It is particularized below go out some detections
Example is for reference.
As example one, in the S400 of the monitoring method, when judge the lighting apparatus whether in normal condition be
When judging whether the lighting apparatus illuminates, color and/or luminous intensity based on the lighting apparatus come judge it is described illumination set
It is standby whether to be in normal condition.If because the color of illumination be present or non-zero luminous intensity be present, the photograph may determine that
Bright equipment is in illumination condition.Conversely, if the color or luminous intensity in the absence of illumination are 0, the lighting apparatus may determine that
In non-illumination state.If being judged with reference to both, result is correspondingly more accurate, is advantageous to avoid erroneous judgement.
As example two, in the S400 of the monitoring method, when judge the lighting apparatus whether in normal condition be
When judging whether the brightness of illumination of the lighting apparatus is suitable, judge that the illumination is set based on the luminous intensity of the lighting apparatus
It is standby whether to be in normal condition., then can be with because according to the contrast between the luminous intensity and ambient light intensity sensed in real time
Judge whether the brightness of illumination of the lighting apparatus is suitable.
As example three, in the S400 of the monitoring method, when judge the lighting apparatus whether in normal condition be
When judging whether the brightness of illumination of the lighting apparatus is suitable, luminous intensity and color based on the lighting apparatus are described to judge
Whether lighting apparatus is in normal condition.Because according to the contrast between the luminous intensity and ambient light intensity sensed in real time,
It then may determine that whether the brightness of illumination of the lighting apparatus is suitable.And the addition of color can then improve the accuracy of the judgement,
Be advantageous to avoid erroneous judgement.
As example four, in the S400 of the monitoring method, when judge the lighting apparatus whether in normal condition be
When judging whether the brightness of illumination of the lighting apparatus is suitable, luminous intensity and color based on monitored area judge lighting apparatus
Whether normal condition is in.Because according to the comparison of the luminous intensity of monitored area and normal conditions, then may determine that pair
Answer the brightness of illumination of the lighting apparatus of monitored area whether suitable.
Alternatively, conventional passenger transporter 100 may have multigroup different lighting apparatus in different location arrangements.
Now, in the S310 of the monitoring method, the illumination condition foreground features of extraction also include the position of lighting apparatus, so as to
Location-based difference come the lighting apparatus of monitoring required for identifying, and illumination condition corresponding to carrying out whether abnormal data
Analysis.Therefore, correspondingly, also should the color based on the lighting apparatus, luminous intensity and position in the S400 of the monitoring method
One or more of and/or the luminous intensity of monitored area judge whether the lighting apparatus is in normal condition.
For ease of understanding that the abnormality of lighting apparatus is relevant with one or more of color, luminous intensity and position.Such as
Under to include some detection examples for reference.
As example one, in the S400 of the monitoring method, when judge the lighting apparatus whether in normal condition be
When judging whether the lighting apparatus illuminates, based on the position of the lighting apparatus and color and/or luminous intensity to judge
State whether lighting apparatus is in normal condition.Because data analysis is carried out required for being recognized by position data
After lighting apparatus, for the lighting apparatus, if it has the color of illumination or non-zero luminous intensity be present, this may determine that
Lighting apparatus is in illumination condition.Conversely, if the color or luminous intensity in the absence of illumination are 0, it may determine that the illumination is set
It is standby to be in non-illumination state.If being judged with reference to both, result is correspondingly more accurate, is advantageous to avoid erroneous judgement.
As example two, in the S400 of the monitoring method, when judge the lighting apparatus whether in normal condition be
When judging whether the brightness of illumination of the lighting apparatus is suitable, luminous intensity and position based on the lighting apparatus are described to judge
Whether lighting apparatus is in normal condition.Because the photograph of data analysis is carried out required for being recognized by position data
After bright equipment, according to the contrast between the luminous intensity and ambient light intensity sensed in real time, then the lighting apparatus may determine that
Whether brightness of illumination is suitable.
As example three, in the S400 of the monitoring method, when judge the lighting apparatus whether in normal condition be
When judging whether the brightness of illumination of the lighting apparatus is suitable, sentenced based on the luminous intensity of the lighting apparatus, color and position
Whether the lighting apparatus that breaks is in normal condition.Because data point are carried out required for being recognized by position data
After the lighting apparatus of analysis, according to the contrast between the luminous intensity and ambient light intensity sensed in real time, then the illumination may determine that
Whether the brightness of illumination of equipment is suitable.And the addition of color can then improve the accuracy of the judgement, be advantageous to avoid erroneous judgement.
As example four, in the S400 of the monitoring method, when judge the lighting apparatus whether in normal condition be
When judging whether the brightness of illumination of the lighting apparatus is suitable, the luminous intensity of position and monitored area based on lighting apparatus is sentenced
Whether disconnected lighting apparatus is in normal condition.Because data analysis is carried out required for being recognized by position data
After lighting apparatus, according to the contrast between the ambient light intensity and normal conditions sensed in real time, then it may determine that the illumination is set
Whether standby brightness of illumination is suitable.
To strengthen and improving the various effects of method in previous embodiment in all its bearings, also provide be based on foregoing reality herein
If the drying method for applying example improves and method modification.
For example, the S400 of the monitoring method also includes, the illumination condition foreground features based on foreground object judge specific
Whether lighting apparatus is normal, if it is determined that "Yes", is abandoned based on currently processed described image data to the lighting apparatus
Whether whether the judgement in normal condition or the lighting apparatus corresponding to abandoning currently processed described image data are in
The judged result of normal condition.
For another example, the S400 of the monitoring method also includes, and is in the judged result of the described image data of at least continuous two width
When the lighting apparatus is in same abnormal condition, determine that the lighting apparatus is in the abnormal condition.By repeatedly supervising
Survey, just be judged to lighting apparatus to be in abnormal condition after identical judged result is obtained.So improve the accurate of judgement
Property, reduce False Rate.
And for example, the S100 of the monitoring method also includes, and sensing obtains the lighting apparatus predetermined after scheduled time slot
View data in period carries out data processing for the processing unit 220.By the way that judge by phased manner can also be in certain journey
Same monitoring effect is realized on degree.Such as in evening session, due to relatively less using the user of passenger transporter 100.
Now, monitoring cost is both saved using the monitoring of the relatively low frequency, and similar detection and safety precaution effect can be reached substantially.
Further, the S200 of the monitoring method also includes, and is under illumination condition what is sensed based on the lighting apparatus
The background model of image data acquisition first, or the view data sensed is under non-illumination state based on the lighting apparatus and is obtained
The second background model is taken, or the picture number sensed is under the illumination condition of multiple particular light intensities based on the lighting apparatus
According to the 3rd background model group of acquisition.For example, work as the image data acquisition first for being under illumination condition and sensing based on lighting apparatus
During background model, if the foreground object detected has difference with it, show that it is not under illumination condition, regarded as
It there may be exception.For another example, when being under non-illumination state image data acquisition the second background mould for sensing based on lighting apparatus
Type, if the foreground object detected has difference with it, show that it is likely to be under illumination condition, being regarded as may be just
Often.And for example, carry on the back when being under the illumination condition of multiple particular light intensities the image data acquisition the 3rd that senses based on lighting apparatus
During scape model group, then being mainly in view of different in the case of needs the different luminous intensity of luminaire applications.Now, Ke Nengji
N number of 3rd background model is set in actual conditions, and is built into the 3rd background model group jointly.In deterministic process, it will be based on
Practical situation specifically to judge using which of the 3rd background model group the 3rd background model, and in the prospect pair detected
During as difference be present with it, then show that it is likely to be under the illumination light intensity of non-setting, therefore regarded as there may be
It is abnormal.
Further, the monitoring method also includes S500, and step of warning is abnormal when lighting apparatus occurs based on S400 determinations
In the case of trigger alarm unit 230 and work, so that maintenance centre or attendant make corresponding processing according to monitoring result
Measure, so as to realize the generation of prevention security incident.
Further, the monitoring method also includes S600, learning procedure, monitor the passenger transporter 100 in day
The illumination condition foreground features of lighting apparatus under normal operating condition, for the background model acquired in renewal S200.
In addition, under the conception of the present invention, a kind of embodiment of passenger transporter 100 is also provided.It, which can be applied, appoints
The detecting system referred in meaning previous embodiment, thus also there is corresponding advantage.And it can equally be applicable any foregoing reality
The detection method referred in example is applied, thus further improves the effect of detecting system.
It should be noted that the element for being disclosed herein and describing（Including the flow chart and block diagram in accompanying drawing）Mean element
Between logical boundary.However, being put into practice according to software or hardware engineering, the element and its function of description be able to can be held by computer
Row medium performs on machine, and computer, which can perform medium, has the processor for the programmed instruction for being able to carry out being stored thereon,
Described program is instructed as monolithic software configuration, as independent software module or as using external program, code, service etc.
Module, or these any combinations, and all these carry into execution a plan and can fallen within the scope of the disclosure.
Although different non-limiting embodiments have the component of certain illustrated, embodiment of the present invention is not limited to this
A little particular combinations.May use in component from any non-limiting embodiments or feature some with from any other
Feature or the component combination of non-limiting embodiments.
Although showing, disclose and claim particular order of steps, it will be appreciated that step can implement in any order, separate or
Combination, except as otherwise noted, and still will benefit from the disclosure.
It is described above to be exemplary rather than being defined as being limited in the inner.Disclosed herein is various non-limiting embodiment party
Case, however, those of ordinary skill in the art will recognize that according to above-mentioned teaching, various modifications and changes Rights attached thereto will be fallen into
In the range of it is required that.Thus, it will be understood that in the range of appended claims, in the practicable disclosure in addition to specifically disclosed
Hold.For this reason, appended claims should be studied carefully to determine true scope and content.
Claims (41)
- A kind of 1. monitoring system of passenger transporter, it is characterised in that including：Imaging sensor, for being sensed the lighting apparatus of the passenger transporter to obtain view data；Processing unit, for carrying out data processing to described image data to monitor whether the lighting apparatus is in normal shape State, it is configured as including：Background acquisition module, for based on being under normal condition or abnormal condition the picture number sensed in the lighting apparatus According to acquisition background model；Foreground detection module, for the view data sensed in real time to be compared with acquisition prospect pair with the background model As；AndOperating mode judge module, data processing is carried out to judge whether the lighting apparatus is located for being at least based on the foreground object In normal condition.
- 2. monitoring system according to claim 1, it is characterised in that the processing unit also includes：Foreground features extraction module, for extracting corresponding illumination condition foreground features from the foreground object；Wherein, whether the operating mode judge module judges the lighting apparatus in normal based on the illumination condition foreground features State.
- 3. monitoring system according to claim 2, it is characterised in that the illumination shape of the foreground features extraction module extraction State foreground features include the color and/or luminous intensity of lighting apparatus, and/or the luminous intensity of monitored area；The operating mode judges mould Color and/or lighting apparatus luminous intensity of the block based on the lighting apparatus and/or the luminous intensity of monitored area judge the photograph Whether bright equipment is normal.
- 4. monitoring system according to claim 3, it is characterised in that when the processing unit is configured to detect the photograph When whether bright equipment illuminates, color and/or luminous intensity of the operating mode judge module based on the lighting apparatus are described to judge Whether lighting apparatus is normal.
- 5. monitoring system according to claim 3, it is characterised in that when the processing unit is configured to detect the photograph When whether the brightness of illumination of bright equipment is suitable, the operating mode judge module is judged described based on the luminous intensity of the lighting apparatus Whether lighting apparatus is normal.
- 6. monitoring system according to claim 3, it is characterised in that when the processing unit is configured to detect the photograph When whether the brightness of illumination of bright equipment is suitable, luminous intensity of the operating mode judge module based on the lighting apparatus and color are sentenced Whether the lighting apparatus that breaks is normal.
- 7. monitoring system according to claim 3, it is characterised in that when the processing unit is configured to detect the photograph When whether the brightness of illumination of bright equipment is suitable, the operating mode judge module is judged described based on the luminous intensity of the monitored area Whether lighting apparatus is normal.
- 8. monitoring system according to claim 3, it is characterised in that the illumination shape of the foreground features extraction module extraction State foreground features also include the position of lighting apparatus, the color of the operating mode judge module based on the lighting apparatus, luminous intensity And the luminous intensity of one or more of position and/or monitored area judges whether the lighting apparatus is normal.
- 9. monitoring system according to claim 8, it is characterised in that when the processing unit is configured to detect the photograph When whether bright equipment illuminates, position and color of the operating mode judge module based on the lighting apparatus and/or luminous intensity come Judge whether the lighting apparatus is normal.
- 10. monitoring system according to claim 8, it is characterised in that when the processing unit is configured to described in detection When whether the brightness of illumination of lighting apparatus suitable, luminous intensity of the operating mode judge module based on the lighting apparatus and position come Judge whether the lighting apparatus is normal.
- 11. monitoring system according to claim 8, it is characterised in that when the processing unit is configured to described in detection When whether the brightness of illumination of lighting apparatus suitable, the luminous intensity of the operating mode judge module based on the lighting apparatus, color and Position judges whether the lighting apparatus is normal.
- 12. monitoring system according to claim 8, it is characterised in that when the processing unit is configured to described in detection When whether the brightness of illumination of lighting apparatus is suitable, position and monitored area of the operating mode judge module based on the lighting apparatus Luminous intensity judge whether the lighting apparatus normal.
- 13. according to the monitoring system described in claim 2 to 12 any one, it is characterised in that the operating mode judge module is also It is configured as, the illumination condition foreground features based on foreground object judge whether specific lighting apparatus is normal, if it is determined that "Yes", abandon whether being in the judgement of normal condition to the lighting apparatus based on currently processed described image data or abandon Whether the lighting apparatus corresponding to currently processed described image data is in the judged result of normal condition.
- 14. according to the monitoring system described in claim 2 to 12 any one, it is characterised in that the operating mode judge module is also It is configured as, same improper shape is in for the lighting apparatus in the judged result of the described image data of at least continuous two width During state, determine that the lighting apparatus is in the abnormal condition.
- 15. according to the monitoring system described in claim 2 to 12 any one, it is characterised in that the imaging sensor every Sensing obtains view data of the lighting apparatus in scheduled time slot and carried out for the processing unit at data after scheduled time slot Reason.
- 16. according to the monitoring system described in claim 2 to 12 any one, it is characterised in that the background acquisition module quilt It is configured to, the background model of image data acquisition first sensed is under illumination condition based on the lighting apparatus, or be based on The lighting apparatus is under non-illumination state the background model of image data acquisition second sensed, or is set based on the illumination The background model group of image data acquisition the 3rd sensed under the standby illumination condition in multiple particular light intensities.
- 17. according to the monitoring system described in claim 2 to 12 any one, it is characterised in that the imaging sensor is more It is individual, its arrangement of length direction along the passenger transporter.
- 18. according to the monitoring system described in claim 2 to 12 any one, it is characterised in that the monitoring system also includes Alarm unit, the operating mode judge module trigger the alarm unit work in the case of it is determined that lighting apparatus exception occurs.
- 19. according to the monitoring system described in claim 2 to 12 any one, it is characterised in that the monitoring system also includes Study module, the study module are used for the photograph for monitoring the lighting apparatus under day-to-day operation operating mode of the passenger transporter Bright state foreground features, for the background model acquired in renewal background acquisition module.
- 20. according to the monitoring system described in claim 1 to 12 any one, it is characterised in that the imaging sensor integrates It is arranged in RGB-D sensors, the RGB-D sensors also include depth sense sensor.
- 21. according to the monitoring system described in claim 1 to 12 any one, it is characterised in that the processing unit also by with It is set to, when the operating mode judge module determines that the lighting apparatus is in abnormal condition, trigger output signal is to the passenger Security incident is prevented in the elevator maintenance center of conveying arrangement and/or building to realize.
- 22. according to the monitoring system described in claim 1 to 12 any one, it is characterised in that the lighting apparatus includes handing over Through-flow one or any combination into lamp, comb light, step light, handrail lamp and enclosure lamp.
- A kind of 23. monitoring method for passenger transporter, it is characterised in that including：S100, image acquisition step：The lighting apparatus of the passenger transporter is sensed to obtain view data；S200, background obtaining step：Based on being under normal condition or abnormal condition the image that senses in the lighting apparatus Data acquisition background model；S300, foreground detection step：The view data sensed in real time is compared with acquisition prospect pair with the background model As；AndS400, operating mode judgment step：Data processing is carried out to judge the lighting apparatus for being at least based on the foreground object Whether normal condition is in.
- 24. monitoring method according to claim 23, it is characterised in that also include：S310, foreground features extraction step, for according to lighting apparatus before the foreground object extracts corresponding illumination condition Scape feature；Wherein, in S400, judge whether the lighting apparatus is in normal condition based on the illumination condition foreground features.
- 25. monitoring method according to claim 24, it is characterised in that in S310, the illumination condition prospect of extraction is special Sign includes the color and/or luminous intensity of lighting apparatus, and/or the luminous intensity of monitored area；In S400, set based on the illumination Standby color and/or lighting apparatus luminous intensity and/or the luminous intensity of monitored area judge whether the lighting apparatus is normal.
- 26. monitoring method according to claim 25, it is characterised in that in S400, when judging that the lighting apparatus is The no normal condition that is in is color and/or luminous intensity based on the lighting apparatus when judging whether the lighting apparatus illuminates To judge whether the lighting apparatus is in normal condition.
- 27. monitoring method according to claim 25, it is characterised in that in S400, when judging that the lighting apparatus is It is no in normal condition be judge the lighting apparatus brightness of illumination it is whether suitable when, the luminous intensity based on the lighting apparatus To judge whether the lighting apparatus is in normal condition.
- 28. monitoring method according to claim 25, it is characterised in that in S400, when judging that the lighting apparatus is It is no in normal condition be judge the lighting apparatus brightness of illumination it is whether suitable when, the luminous intensity based on the lighting apparatus And color judges whether the lighting apparatus is in normal condition.
- 29. monitoring method according to claim 25, it is characterised in that in S400, when judging that the lighting apparatus is It is no in normal condition be judge the lighting apparatus brightness of illumination it is whether suitable when, the luminous intensity based on the monitored area To judge whether the lighting apparatus is normal.
- 30. monitoring method according to claim 25, it is characterised in that in S310, the illumination condition prospect of extraction is special Sign also includes the position of lighting apparatus；In S400, one in color, luminous intensity and position based on the lighting apparatus or Multiple and/or monitored area luminous intensity judges whether the lighting apparatus is in normal condition.
- 31. monitoring method according to claim 30, it is characterised in that in S400, when judging that the lighting apparatus is It is no in normal condition for when judging whether the lighting apparatus illuminates, color and position based on the foreground object judge Whether the lighting apparatus is in normal condition；Or position based on the lighting apparatus and color and/or luminous intensity come Judge whether the lighting apparatus is in normal condition.
- 32. monitoring method according to claim 30, it is characterised in that in S400, when judging that the lighting apparatus is It is no in normal condition be judge the lighting apparatus brightness of illumination it is whether suitable when, the luminous intensity based on the lighting apparatus And position judges whether the lighting apparatus is in normal condition.
- 33. monitoring method according to claim 30, it is characterised in that in S400, when judging that the lighting apparatus is It is no in normal condition be judge the lighting apparatus brightness of illumination it is whether suitable when, the light intensity based on the lighting apparatus Degree, color and position judge whether the lighting apparatus is in normal condition.
- 34. monitoring method according to claim 30, it is characterised in that in S400, when judging that the lighting apparatus is It is no in normal condition be judge the lighting apparatus brightness of illumination it is whether suitable when, position based on the lighting apparatus and The luminous intensity of monitored area judges whether the lighting apparatus is normal.
- 35. according to the monitoring method described in claim 24 to 34 any one, it is characterised in that S400 also includes, before being based on The illumination condition foreground features of scape object judge whether specific lighting apparatus is normal, if it is determined that "Yes", abandons being based on working as The described image data of pre-treatment to the lighting apparatus whether in normal condition judgement or abandon it is currently processed described in Whether the lighting apparatus corresponding to view data is in the judged result of normal condition.
- 36. according to the monitoring method described in claim 24 to 34 any one, it is characterised in that S400 also includes, at least When the judged result of the described image data of continuous two width is that the lighting apparatus is in same abnormal condition, the photograph is determined Bright equipment is in the abnormal condition.
- 37. according to the monitoring method described in claim 24 to 34 any one, it is characterised in that S100 also includes, every pre- Sensing obtains view data of the lighting apparatus in scheduled time slot and carries out data processing for the processing unit after timing section.
- 38. according to the monitoring method described in claim 24 to 34 any one, it is characterised in that S200 also includes, based on institute State lighting apparatus and be under illumination condition the background model of image data acquisition first sensed, or based on the lighting apparatus at The background model of image data acquisition second sensed under non-illumination state, or it is in multiple specific based on the lighting apparatus The background model group of image data acquisition the 3rd sensed under the illumination condition of luminous intensity.
- 39. according to the monitoring method described in claim 24 to 34 any one, it is characterised in that also including S500, step of warning Suddenly, alarm unit work is triggered in the case of based on S400 determining that lighting apparatus exception occurs.
- 40. according to the monitoring method described in claim 24 to 34 any one, it is characterised in that also including S600, study step Suddenly, the illumination condition foreground features of the lighting apparatus under day-to-day operation operating mode of the passenger transporter are monitored, for Update the background model acquired in S200.
- 41. a kind of passenger transporter, it is characterised in that including the monitoring system as described in any one in claim 1 to 22 System.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610610018.2A CN107662868B (en) | 2016-07-29 | 2016-07-29 | Monitoring system of passenger conveyer, passenger conveyer and monitoring method thereof |
| US15/663,456 US10479653B2 (en) | 2016-07-29 | 2017-07-28 | Monitoring system of a passenger conveyor, a passenger conveyor, and a monitoring method thereof |
| EP17184136.4A EP3275826B1 (en) | 2016-07-29 | 2017-07-31 | A monitoring system of a passenger conveyor, a passenger conveyor, and a monitoring method thereof |
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| CN201610610018.2A CN107662868B (en) | 2016-07-29 | 2016-07-29 | Monitoring system of passenger conveyer, passenger conveyer and monitoring method thereof |
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| US (1) | US10479653B2 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| US10479653B2 (en) | 2019-11-19 |
| EP3275826B1 (en) | 2022-11-09 |
| CN107662868B (en) | 2022-01-04 |
| US20180029835A1 (en) | 2018-02-01 |
| EP3275826A1 (en) | 2018-01-31 |
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